| 摘要 |
PURPOSE:To synchronize the processing period of an upper level CPU with a current loop, a speed loop and a PWM pulse signal freely by a software in the controller for a servo-motor. CONSTITUTION:A peak value KT0 is calculated and predetermined from the processing period 8T0 of an upper level CPU 1 so as to have the period of a triangular wave 2T0. A speed loop is processed with an interrupting signal (a2) which is generated with a period 4T0 synchronized with KT0/2 of the triangular wave and a current loop is processed with an interrupting signal (a1) which is generated with a period T0 synchronized with the peak value of the triangular wave. A DSP 2 which performs the processes of the speed loop and the current loop and is operated by a software which compresses the maximum value of a PWM output signal outputted from the current loop to KT0 and a triangular wave generating circuit 3 which receives the peak value KT0 of the triangular wave and the start signal of the triangular wave and generates the triangular wave and the two interrupting signals are provided. |
